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Approximate Jacobian control with task-space damping for robot manipulators

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4 Author(s)
C. C. Cheah ; Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore, Singapore ; M. Hirano ; S. Kawamura ; S. Arimoto

In this note, we propose two new approximate Jacobian control laws with task-space damping for setpoint control of robot manipulators. The proposed controllers do not require exact knowledge of the Jacobian matrix and dynamics of the robots. We will show that the end-effector's position converges to a desired position in a finite task space even when the kinematics and Jacobian matrix are uncertain. Experimental results are presented to illustrate the performance of the proposed controllers.

Published in:

IEEE Transactions on Automatic Control  (Volume:49 ,  Issue: 5 )